CN109928132A - A kind of mobile devices and running method of four-way Shuttling trolley - Google Patents
A kind of mobile devices and running method of four-way Shuttling trolley Download PDFInfo
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- CN109928132A CN109928132A CN201910360763.XA CN201910360763A CN109928132A CN 109928132 A CN109928132 A CN 109928132A CN 201910360763 A CN201910360763 A CN 201910360763A CN 109928132 A CN109928132 A CN 109928132A
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- shuttling trolley
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- trolley
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Abstract
The present invention relates to the running gear and traveling method of a kind of four-way Shuttling trolley, a kind of running gear including four-way Shuttling trolley comprising the controller of control four-way Shuttling trolley walking;Four-way Shuttling trolley is walked in running track, and running track is set gradually as unit of grid, is equipped with count slice in every grid；Count slice is used to calculate the grid number of four-way Shuttling trolley operation, and relevant pulse information is sent to controller；It is additionally provided with RFID reader on four-way Shuttling trolley, corresponding RFID chip is equipped in each grid of running track, is equipped with and the matched data of grid in RFID chip；The present invention eliminates the accumulated error of four-way Shuttling trolley in the process of walking, keeps trolley positioning more acurrate by increasing count slice in running track is per sound of laughing son；RFID reader and RFID chip are increased simultaneously, the walking step number of four-way Shuttling trolley is carried out judging whether to count correctly, further increase the walking precision of four-way Shuttling trolley.
Description
Technical field
The invention belongs to the mobile devices of the technical field of four-way Shuttling trolley more particularly to a kind of four-way Shuttling trolley and
Running method.
Background technique
With scientific and technological progress, modern logistics storage is also increasingly automated, and automation formula logistic storage can save manpower
Labor intensity and raising working efficiency realize that automation formula logistic storage must rely on the unmanned Shuttling trolley carried of automation,
The transfer of cargo can be very easily realized by automatically back and forth transporting goods for the unmanned Shuttling trolley carried.
Shuttling trolley is generally used four-wheel Shuttling trolley at present, and Shuttling trolley is generally used for Modern Materials Circulation storehouse at present
In library, contact shuttle is carried out in the track in stereo storage rack, is transported goods.The shuttle of its advantage is efficient and convenient, and operation is more steady,
The destination address of four-way Shuttling trolley walking, can be controlled by pulse, but in fact, due to four-way Shuttling trolley row
When walking, empty wagons is run sometimes, the operation of loading sometimes, and due to many factors such as chain, wheel, tracks, will cause same
The pulse of sample, travel distance will appear deviation, also, when travel distance farther out when, deviation can be bigger, accumulated error, thus
It is unable to satisfy actual use demand.
Summary of the invention
A kind of four-way Shuttling trolley that can eliminate is provided the invention aims to overcome the deficiencies in the prior art to walk
Accumulated error in the process can make mobile devices and the traveling side of the more accurate four-way Shuttling trolley of positioning of four-way Shuttling trolley
Method.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: a kind of running gear of four-way Shuttling trolley, comprising: control
The controller of four-way Shuttling trolley walking processed;In running track, running track is with grid for the four-way Shuttling trolley walking
Unit is set gradually, and is equipped with count slice in every grid；The count slice is used to calculate the operation of four-way Shuttling trolley
Grid number, and relevant pulse information is sent to controller.
Further, it is additionally provided with RFID reader on the four-way Shuttling trolley, in each grid of the running track
It is inside equipped with corresponding RFID chip, is equipped with and the matched data of grid in RFID chip；The RFID reader is for reading
Data in RFID chip, and send relevant information to controller.
A kind of running method of the mobile devices of four-way Shuttling trolley, includes the following steps:
A: setting four-way Shuttling trolley first often walks 1 lattice, and controller needs to send y pulse；
B: setting four-way Shuttling trolley will walk n lattice altogether, when such four-way Shuttling trolley goes to the n-th lattice from the 1st table rows, control
Device needs to send (n-1) y pulse altogether;
C: when four-way Shuttling trolley goes to 2 lattice from the 1st table rows, the corresponding count slice of the 2nd lattice recalculates pulse,
And (n-2) y pulse is returned into controller, it is corresponding that controller continues control four-way Shuttling trolley progress (n-2) y pulse
The walking of grid number；When four-way Shuttling trolley goes to 3 lattice from the 2nd table rows, the corresponding count slice of the 3rd lattice carries out weight to pulse
It is new to calculate, and (n-3) y pulse is returned into controller, controller continues to control four-way Shuttling trolley progress (n-3) y arteries and veins
The walking of corresponding grid number is rushed when four-way Shuttling trolley goes to m+1 lattice from m table rows, the corresponding count slice of m+1 lattice
Pulse is recalculated, and y pulse of n-(m+1) is returned into controller, controller continues to control four-way Shuttling trolley
Carry out n-(m+1) the corresponding grid number of y pulse walking；Above-mentioned steps are repeated in, until four-way Shuttling trolley covers n
Lattice.
Further, further include following steps: when the walking of four-way Shuttling trolley is into the grid of corresponding running track,
RFID reader in four-way Shuttling trolley reads the grid number stored in RFID chip in corresponding grid, and counts with count slice
Grid number compare；
If when the grid number counted in count slice and the identical grid number stored in corresponding RFID chip, four-way Shuttling trolley after
The continuous counting mode according to count slice is walked；
If when the grid number counted in count slice and the grid number difference stored in corresponding RFID chip, RFID reader is sent
The information of corresponding grid number is changed to correct grid number to controller, controller control count slice, and then four-way shuttles small
Vehicle continues to walk according to the counting mode of correct count slice.
Due to the application of the above technical scheme, compared with the prior art, the invention has the following advantages:
1. by increasing count slice in running track is per sound of laughing son, to eliminate four-way Shuttling trolley in walking process
In accumulated error, can make trolley positioning it is more acurrate.
2. increasing RFID reader and RFID chip to carry out judging whether to count to the walking step number of four-way Shuttling trolley
Correctly, the walking precision of four-way Shuttling trolley is further increased.
Detailed description of the invention
Technical scheme of the present invention is further explained with reference to the accompanying drawing:
Attached drawing 1 is the structural schematic diagram of the mobile devices of four-way Shuttling trolley in the present invention；
Wherein: four-way Shuttling trolley 1, controller 2, running track 3, count slice 4, RFID reader 5, RFID chip 6.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is described in further details.
Please refer to attached drawing 1, the counting principle of trolley count slice: under original state, the count value of trolley is 0, when trolley just
To operation, by the first lattice count slice when, controller just counts up 1 time, illustrates trolley in the first lattice, when trolley drives to
When the count slice of two lattice, and can count up 1 time, become 2, illustrate trolley in the second lattice, and so on, when such trolley rotates forward,
It is every to pass through one, it can all count up once, count value and current grid number are just corresponding, and count value is 1, that one trolley just exists
First lattice, count value are 2, that one trolley is just in the second lattice.
Similarly, when trolley inverted running, as soon as every pass through lattice, controller subtracts counting 1 time, for example originally in the 12nd lattice, meter
Numerical value is 12, then count value can subtract 1, become 11, also just match with grid when reversion is by a lattice.
Embodiment one:
Please refer to attached drawing 1, a kind of running gear of four-way Shuttling trolley of the present invention, comprising: control four-way Shuttling trolley 1
The controller 2 of walking, four-way Shuttling trolley 1 are walked in running track 3, and running track 3 is successively set as unit of grid
It sets comprising multiple grid, four-way Shuttling trolley 1 are just walked in running track 3 according to several rows of grid, are all provided in each grid
There is count slice 4；Count slice 4 is used to calculate the grid number of the operation of four-way Shuttling trolley 1, and relevant pulse information is sent to control
Device 2 processed.
The present embodiment also discloses a kind of running method of the mobile devices of four-way Shuttling trolley, and n herein is set as 11,
Include the following steps:
A: setting four-way Shuttling trolley first often walks 1 lattice, and controller needs to send 10,000 pulse.
B: setting four-way Shuttling trolley will walk 11 lattice altogether, and such four-way Shuttling trolley goes to the 11st lattice from the 1st table rows
When, controller needs to send 10x10,000 pulse altogether.
C: when four-way Shuttling trolley goes to 2 lattice from the 1st table rows, the corresponding count slice of the 2nd lattice carries out again pulse
It calculates, and by 9x10,000 pulse returns to controller, and controller continues to control four-way Shuttling trolley and carries out 9x10,000
The walking of the corresponding grid number of pulse pulse, i.e., also need 9 grid；When four-way Shuttling trolley goes to the 3rd from the 2nd table rows
When lattice, the corresponding count slice of the 3rd lattice recalculates pulse, and by 8x10,000 pulse returns to controller, control
Device continues to control four-way Shuttling trolley progress 8x10, the walking of the corresponding grid number of 000 pulse also needs 8 lattice
Son is repeated in above-mentioned steps, until four-way Shuttling trolley covers 11 lattice.
By the above-mentioned control mode to four-way Shuttling trolley, four-way Shuttling trolley is just completely eliminated in walking process
In accumulated error, can make trolley positioning it is more acurrate.
Embodiment two:
Please refer to attached drawing 1, a kind of running gear of four-way Shuttling trolley of the present invention, comprising: control four-way Shuttling trolley 1
The controller 2 of walking, four-way Shuttling trolley 1 are walked in running track 3, and running track 3 is successively set as unit of grid
It sets comprising multiple grid, four-way Shuttling trolley 1 are just walked in running track 3 according to several rows of grid, are all provided in each grid
There is count slice 4；Count slice 4 is used to calculate the grid number of the operation of four-way Shuttling trolley 1, and relevant pulse information is sent to control
Device 2 processed, wherein be additionally provided with RFID reader 5 on Shuttling trolley 1, be equipped in each grid of running track 3 corresponding
RFID chip 6, is equipped in RFID chip 6 and the matched data of grid；The RFID reader 5 is for reading in RFID chip 6
Data, and send relevant information to controller 2.
The present embodiment also discloses a kind of running method of the mobile devices of four-way Shuttling trolley, and n herein is set as 11,
Include the following steps:
A: setting four-way Shuttling trolley first often walks 1 lattice, and controller needs to send 10,000 pulse.
B: setting four-way Shuttling trolley will walk 11 lattice altogether, and such four-way Shuttling trolley goes to the 11st lattice from the 1st table rows
When, controller needs to send 10x10,000 pulse altogether.
C: when four-way Shuttling trolley goes to 2 lattice from the 1st table rows, the corresponding count slice of the 2nd lattice carries out again pulse
It calculates, and by 9x10,000 pulse returns to controller, and controller continues to control four-way Shuttling trolley and carries out 9x10,000
The walking of the corresponding grid number of pulse pulse, i.e., also need 9 grid；When four-way Shuttling trolley goes to the 3rd from the 2nd table rows
When lattice, the corresponding count slice of the 3rd lattice recalculates pulse, and by 8x10,000 pulse returns to controller, control
Device continues to control four-way Shuttling trolley progress 8x10, the walking of the corresponding grid number of 000 pulse also needs 8 lattice
Son is repeated in above-mentioned steps, until four-way Shuttling trolley covers 11 lattice.
In addition, when the walking of four-way Shuttling trolley is into the grid of corresponding running track, in four-way Shuttling trolley
RFID reader reads the grid number stored in RFID chip in corresponding grid, and the grid number counted with count slice compares.
If when the grid number counted in count slice and the identical grid number stored in corresponding RFID chip, four-way shuttles small
Vehicle continues to walk according to the counting mode of count slice.
If when the grid number counted in count slice and the grid number difference stored in corresponding RFID chip, RFID reader
The information of corresponding grid number is sent to controller, controller control count slice is changed to correct grid number, and then four-way is worn
Shuttle trolley continues to walk according to the counting mode of correct count slice.
Because count slice is sensor, belong to electric elements, error may be generated in actual operation, it is possible to can be more
Meter, leakage meter, it is inaccurate so as to cause the walking of four-way Shuttling trolley, so increasing RFID reader and RFID in the present embodiment
Chip further increases the walking precision of four-way Shuttling trolley.
Specifically, can be previously written in RFID chip and the matched data of grid, for example chip of the first lattice, in chip
Data when 1, the chip data of the second lattice is 2, and so on, RFID reader on trolley is reading chip-count in real time
According to when trolley drives to the first lattice, the data 1 in chip can be read, when trolley drives to the second lattice, can be read
Data 2 in chip, and so on, such trolley can read the data in chip, also energy when by each position
Which lattice the current location for determining four-way Shuttling trolley is at, and perfectly solve that count slice occurs in miscount asks
Topic.
The above is only specific application examples of the invention, are not limited in any way to protection scope of the present invention.All uses
Equivalent transformation or equivalent replacement and the technical solution formed, all fall within rights protection scope of the present invention.
Claims (4)
1. a kind of running gear of four-way Shuttling trolley characterized by comprising
Control the controller of four-way Shuttling trolley walking;Four-way Shuttling trolley walking in running track, running track with
Grid is that unit is set gradually, and is equipped with count slice in every grid；The count slice is for calculating four-way Shuttling trolley
The grid number of operation, and relevant pulse information is sent to controller.
2. a kind of running gear of four-way Shuttling trolley according to claim 1, it is characterised in that: the four-way shuttles small
It is additionally provided with RFID reader on vehicle, is equipped with corresponding RFID chip, RFID chip in each grid of the running track
It is interior to be equipped with and the matched data of grid；The RFID reader is used to read the data in RFID chip, and relevant information is sent out
Give controller.
3. a kind of running method of the mobile devices of four-way Shuttling trolley as described in claim 1, which is characterized in that including such as
Lower step:
A: setting four-way Shuttling trolley first often walks 1 lattice, and controller needs to send y pulse；
B: setting four-way Shuttling trolley will walk n lattice altogether, when such four-way Shuttling trolley goes to the n-th lattice from the 1st table rows, control
Device needs to send (n-1) y pulse altogether;
C: when four-way Shuttling trolley goes to 2 lattice from the 1st table rows, the corresponding count slice of the 2nd lattice recalculates pulse,
And (n-2) y pulse is returned into controller, it is corresponding that controller continues control four-way Shuttling trolley progress (n-2) y pulse
The walking of grid number；When four-way Shuttling trolley goes to 3 lattice from the 2nd table rows, the corresponding count slice of the 3rd lattice carries out weight to pulse
It is new to calculate, and (n-3) y pulse is returned into controller, controller continues to control four-way Shuttling trolley progress (n-3) y arteries and veins
The walking of corresponding grid number is rushed when four-way Shuttling trolley goes to m+1 lattice from m table rows, the corresponding count slice of m+1 lattice
Pulse is recalculated, and y pulse of n-(m+1) is returned into controller, controller continues to control four-way Shuttling trolley
Carry out n-(m+1) the corresponding grid number of y pulse walking；Above-mentioned steps are repeated in, until four-way Shuttling trolley covers n
Lattice.
4. a kind of running method of the mobile devices of four-way Shuttling trolley as claimed in claim 2, which is characterized in that including such as
Lower step: when the walking of four-way Shuttling trolley is into the grid of corresponding running track, the RFID in four-way Shuttling trolley is read
Device reads the grid number stored in RFID chip in corresponding grid, and the grid number counted with count slice compares；
If when the grid number counted in count slice and the identical grid number stored in corresponding RFID chip, four-way Shuttling trolley after
The continuous counting mode according to count slice is walked；
If when the grid number counted in count slice and the grid number difference stored in corresponding RFID chip, RFID reader is sent
The information of corresponding grid number is changed to correct grid number to controller, controller control count slice, and then four-way shuttles small
Vehicle continues to walk according to the counting mode of correct count slice.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910360763.XA CN109928132B (en) | 2019-04-30 | 2019-04-30 | Running device and running method of four-way shuttle trolley |
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| CN201910360763.XA CN109928132B (en) | 2019-04-30 | 2019-04-30 | Running device and running method of four-way shuttle trolley |
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